Adaptive robust control with input shaping technology for solar array drive system

In this paper, the angular position control problem of solar array drive system is considered. The system contains uncertainty due to parametric inaccuracy and external disturbance torque. Furthermore, the system is flexible, which may cause the flexible vibration. We propose an input shaping approach based on the reference model, which is able to suppress the flexible vibration by designing the command trajectory. To improve the angular position control performance, an adaptive robust control is proposed, which can guarantee the uniform boundedness and uniform ultimate boundedness of the system, regardless of the uncertainty. The simulation shows that the proposed controller is able to guarantee the system performance and suppress the flexible vibration even under arbitrary uncertainty.